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ekf2: send airspeed data to ekf backend regardless of sign

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On ground the airspeed can sometimes be slightly negative but the ekf
should still know that airspeed data is flowing regularly
This commit is contained in:
bresch
2024-08-13 14:37:52 +02:00
committed by Silvan Fuhrer
parent a0d22a4d21
commit aad607e0dd
1 changed files with 8 additions and 3 deletions
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src/modules/ekf2/EKF2.cpp
+8 -3
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@@ -2076,14 +2076,19 @@ void EKF2::UpdateAirspeedSample(ekf2_timestamps_s &ekf2_timestamps)
if (_airspeed_validated_sub.update(&airspeed_validated)) {
if (PX4_ISFINITE(airspeed_validated.true_airspeed_m_s)
&& PX4_ISFINITE(airspeed_validated.calibrated_airspeed_m_s)
&& (airspeed_validated.calibrated_airspeed_m_s > 0.f)
&& (airspeed_validated.selected_airspeed_index > 0)
) {
float cas2tas = 1.f;
if (PX4_ISFINITE(airspeed_validated.calibrated_airspeed_m_s)
&& (airspeed_validated.calibrated_airspeed_m_s > FLT_EPSILON)) {
cas2tas = airspeed_validated.true_airspeed_m_s / airspeed_validated.calibrated_airspeed_m_s;
}
airspeedSample airspeed_sample {
.time_us = airspeed_validated.timestamp,
.true_airspeed = airspeed_validated.true_airspeed_m_s,
.eas2tas = airspeed_validated.true_airspeed_m_s / airspeed_validated.calibrated_airspeed_m_s,
.eas2tas = cas2tas,
};
_ekf.setAirspeedData(airspeed_sample);
}